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After a while of fiddling I now have it working!

I still don't really know how the thing works behind the scene but it seems the planning scene only handles binary octomaps.

I was subscribing to a octomap_full topic and when I tried listening to a octomap_binary one it started working.

This line is nor even needed:

tree_->setResolution(octo_msg->resolution);

After a while of fiddling I now have it working!

I still don't really know how the thing works behind the scene but it seems the planning scene only handles binary octomaps.

I was subscribing to a octomap_full topic and when I tried listening to a octomap_binary one it started working.

This line is nor even needed:

tree_->setResolution(octo_msg->resolution);